/// <summary>
/// Creates a new instance of the FEZ HAT.
/// </summary>
/// <returns>The new instance.</returns>
public static FEZHAT Create()
{
//var gpioController = GpioController.GetDefault();
//var i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector(FEZHAT.I2cDeviceName)))[0];
var hat = new FEZHAT();
if (i2cBus == null)
{
i2cBus = new Mono.Linux.I2C.I2CBus(0x01);
}
//I2CDevice i2c_accelerometer = Pi.I2C.AddDevice(MMA8453.GetAddress(false));
var i2c_accelerometer = new Mono.Linux.I2C.I2CDevice(i2cBus, MMA8453.GetAddress(false));
hat.accelerometer = new MMA8453(i2c_accelerometer);
//I2CDevice i2c_analog = Pi.I2C.AddDevice(ADS7830.GetAddress(false, false));
var i2c_analog = new Mono.Linux.I2C.I2CDevice(i2cBus, ADS7830.GetAddress(false, false));
hat.analog = new ADS7830(i2c_analog);
//I2CDevice i2c_pwm = Pi.I2C.AddDevice(PCA9685.GetAddress(true, true, true, true, true, true));
var i2c_pwm = new Mono.Linux.I2C.I2CDevice(i2cBus, PCA9685.GetAddress(true, true, true, true, true, true));
hat.pwm = new PCA9685(i2c_pwm, Pi.Gpio.Pin23);//Pi.Gpio.Pin13);x
hat.pwm.OutputEnabled = true;
hat.pwm.Frequency = 1500;
//mapping wiring pi vs gpio win iot
hat.dio16 = Pi.Gpio.Pin27; //Pi.Gpio.Pin16;x
hat.dio26 = Pi.Gpio.Pin25; //Pi.Gpio.Pin26;x
hat.dio24 = Pi.Gpio.Pin05; //Pi.Gpio.Pin24;x
hat.dio18 = Pi.Gpio.Pin01; //Pi.Gpio.Pin18;x
hat.dio22 = Pi.Gpio.Pin03; //Pi.Gpio.Pin22;x
hat.dio16.PinMode = GpioPinDriveMode.Input;
hat.dio26.PinMode = GpioPinDriveMode.Input;
hat.dio24.PinMode = GpioPinDriveMode.Output;
hat.dio18.PinMode = GpioPinDriveMode.Input;
hat.dio22.PinMode = GpioPinDriveMode.Input;
hat.motorEnable = Pi.Gpio.Pin26;//Pi.Gpio.Pin12;x
hat.motorEnable.PinMode = GpioPinDriveMode.Output;
hat.motorEnable.Write(GpioPinValue.High);
hat.MotorA = new Motor(hat.pwm, 14, Pi.Gpio.Pin02, Pi.Gpio.Pin04); //Pi.Gpio.Pin27, Pi.Gpio.Pin23);x
hat.MotorB = new Motor(hat.pwm, 13, Pi.Gpio.Pin22, Pi.Gpio.Pin21); //Pi.Gpio.Pin06, Pi.Gpio.Pin05);x
hat.D2 = new RgbLed(hat.pwm, 1, 0, 2);
hat.D3 = new RgbLed(hat.pwm, 4, 3, 15);
hat.S1 = new Servo(hat.pwm, 9);
hat.S2 = new Servo(hat.pwm, 10);
return(hat);
}
protected async override Task Initialize()
{
this.gpioMap = FEZCream.CreateGpioMap();
this.analogMap = FEZCream.CreateAnalogMap();
this.pwmMap = FEZCream.CreatePwmMap();
this.analogSharedMap = FEZCream.CreateAnalogSharedMap();
this.pwmSharedMap = FEZCream.CreatePwmSharedMap();
this.analog = new ADS7830(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
this.pwm = new PCA9685(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))));
this.gpios = new PCA9535[2];
this.gpios[0] = new PCA9535(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9535.GetAddress(true, true, false))), await GNI.DigitalIO.CreateInterfaceAsync(22));
this.gpios[1] = new PCA9535(await GNI.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9535.GetAddress(true, false, true))), await GNI.DigitalIO.CreateInterfaceAsync(26));
for (var i = 2; i <= 7; i++)
{
this.gpios[0].SetDriveMode(i, GpioPinDriveMode.Output);
this.gpios[0].Write(i, true);
}
Socket socket;
socket = this.CreateSocket(1);
socket.AddSupportedTypes(SocketType.I);
socket.SetNativePin(SocketPinNumber.Three, 18);
socket.NativeI2cDeviceId = "I2C1";
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(2);
socket.AddSupportedTypes(SocketType.U);
socket.NativeSerialDeviceId = "COM1";
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(3);
socket.AddSupportedTypes(SocketType.S, SocketType.X);
socket.SetNativePin(SocketPinNumber.Three, 24);
socket.SetNativePin(SocketPinNumber.Four, 25);
socket.SetNativePin(SocketPinNumber.Five, 13);
socket.NativeSpiDeviceId = "SPI0";
socket.NativeSpiChipSelectPin = 0;
socket = this.CreateSocket(4);
socket.AddSupportedTypes(SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 6);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(5);
socket.AddSupportedTypes(SocketType.A);
socket.SetNativePin(SocketPinNumber.Three, 12);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.AnalogIOCreator = this.AnalogIOCreator;
socket = this.CreateSocket(6);
socket.AddSupportedTypes(SocketType.A);
socket.SetNativePin(SocketPinNumber.Three, 16);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.AnalogIOCreator = this.AnalogIOCreator;
socket = this.CreateSocket(7);
socket.AddSupportedTypes(SocketType.P, SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 5);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.PwmOutputCreator = this.PwmOutputCreator;
socket = this.CreateSocket(8);
socket.AddSupportedTypes(SocketType.P, SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 27);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.PwmOutputCreator = this.PwmOutputCreator;
socket = this.CreateSocket(9);
socket.AddSupportedTypes(SocketType.I);
socket.SetNativePin(SocketPinNumber.Three, 23);
socket.NativeI2cDeviceId = "I2C1";
socket.DigitalIOCreator = this.DigitalIOCreator;
}
/// <summary>
/// Creates a new instance of the FEZ HAT.
/// </summary>
/// <returns>The new instance.</returns>
public static async Task <FEZHAT> CreateAsync()
{
var gpioController = GpioController.GetDefault();
var i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector(FEZHAT.I2cDeviceName)))[0];
var hat = new FEZHAT();
hat.accelerometer = new MMA8453(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(MMA8453.GetAddress(false))));
hat.analog = new ADS7830(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
hat.pwm = new PCA9685(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))), gpioController.OpenPin(13));
hat.pwm.OutputEnabled = true;
hat.pwm.Frequency = 1500;
hat.dio16 = gpioController.OpenPin(16);
hat.dio26 = gpioController.OpenPin(26);
hat.dio24 = gpioController.OpenPin(24);
hat.dio18 = gpioController.OpenPin(18);
hat.dio22 = gpioController.OpenPin(22);
hat.dio16.SetDriveMode(GpioPinDriveMode.Input);
hat.dio26.SetDriveMode(GpioPinDriveMode.Input);
hat.dio24.SetDriveMode(GpioPinDriveMode.Output);
hat.dio18.SetDriveMode(GpioPinDriveMode.Input);
hat.dio22.SetDriveMode(GpioPinDriveMode.Input);
hat.motorEnable = gpioController.OpenPin(12);
hat.motorEnable.SetDriveMode(GpioPinDriveMode.Output);
hat.motorEnable.Write(GpioPinValue.High);
hat.MotorA = new Motor(hat.pwm, 14, 27, 23);
hat.MotorB = new Motor(hat.pwm, 13, 6, 5);
hat.D2 = new RgbLed(hat.pwm, 1, 0, 2);
hat.D3 = new RgbLed(hat.pwm, 4, 3, 15);
hat.S1 = new Servo(hat.pwm, 9);
hat.S2 = new Servo(hat.pwm, 10);
return(hat);
}
public static async Task <FEZUtilityShield> CreateAsync()
{
if (null == instance)
{
GpioController gpioController;
instance = new FEZUtilityShield();
gpioController = await GpioController.GetDefaultAsync().AsTask().ConfigureAwait(false);
DeviceInformation i2cController;
i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector("I2C1")).AsTask().ConfigureAwait(false))[0];
instance.analog = new ADS7830(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
instance.pwm = new PCA9685(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))));
instance.gpio = new PCA9535(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9535.GetAddress(true, true, false))), gpioController.OpenPin(22));
}
return(instance);
}
/// <summary>
/// Creates a new instance of the FEZ Utility.
/// </summary>
/// <returns>The new instance.</returns>
public static async Task <FEZUtility> CreateAsync()
{
var gpioController = GpioController.GetDefault();
var i2cController = (await DeviceInformation.FindAllAsync(I2cDevice.GetDeviceSelector("I2C1")))[0];
var hat = new FEZUtility();
hat.analog = new ADS7830(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
hat.pwm = new PCA9685(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))));
hat.gpio = new PCA9535(await I2cDevice.FromIdAsync(i2cController.Id, new I2cConnectionSettings(PCA9535.GetAddress(true, true, false))), gpioController.OpenPin(22));
hat.gpio.Write((int)Led.Led1, false);
hat.gpio.Write((int)Led.Led2, false);
hat.gpio.SetDriveMode((int)Led.Led1, GpioPinDriveMode.Output);
hat.gpio.SetDriveMode((int)Led.Led2, GpioPinDriveMode.Output);
return(hat);
}